JP2020142693A - Vehicle control device, vehicle control system, vehicle control method, and program - Google Patents

Abstract

To provide a vehicle control device, a vehicle control system, a vehicle control method, and a program that can be applied to a valet parking system for automatically moving a vehicle and that can contribute to expansion of parking lots.SOLUTION: A vehicle control device includes: a recognizer (130) configured to recognize a surrounding environment of a vehicle; a driving controller (140, 160) configured to perform driving control including at least one of speed control and steering control of the vehicle on the basis of a result of recognition from the recognizer; and an information acquirer (144) configured to acquire surrounding environment information of the surrounding environment of the vehicle in a predetermined space on the basis of the result of recognition recognized from the recognizer in a period after the vehicle enters the predetermined space and before the vehicle exits the predetermined space under the driving control of the driving controller, and to upload the acquired surrounding environment information to an external device.SELECTED DRAWING: Figure 2

Description

The present invention relates to vehicle control devices, vehicle control systems, vehicle control methods, and programs.

In recent years, research has been conducted on the automatic control of vehicles. A valet parking system that automatically moves a vehicle by applying this research is known (see, for example, Patent Document 1).

Special Table 2017-526569

However, the conventional valet parking system is premised on the realization in a private parking lot for using this system, and is not supposed to be applied in an existing parking lot where the map in the parking lot is unknown. Therefore, sufficient consideration has not been given to applying a valet parking system that automatically moves vehicles using an existing parking lot.

The present invention has been made in consideration of such circumstances, and can contribute to the expansion of parking lots applicable to valet parking systems that automatically move vehicles, vehicle control devices, vehicle control systems, and the like. One of the purposes is to provide a vehicle control method and a program.

The vehicle control device, the vehicle control system, the vehicle control method, and the program according to the present invention have adopted the following configurations.
(1): The vehicle control device according to one aspect of the present invention is at least one of a recognition unit that recognizes the surrounding environment of the vehicle and at least one of the speed control and steering control of the vehicle based on the recognition result by the recognition unit. Based on the recognition result recognized by the recognition unit during the period from when the vehicle enters the predetermined space to when the vehicle leaves the predetermined space according to the operation control by the operation control unit and the operation control unit which performs the operation control including the above. It is provided with an information acquisition unit that acquires peripheral environment information regarding the surrounding environment of the vehicle in the predetermined space and uploads the acquired peripheral environment information to an external device.

(2): In the aspect of (1) above, the information acquisition unit acquires the surrounding environment information when the operation control unit performs the operation control on the vehicle in the predetermined space. is there.

(3): In the aspect of the above (1) or (2), when the predetermined space is a parking lot in which the registration to the map information has not been completed in the external device, the surrounding environment The operation control for acquiring information is performed.

(4): In any of the above aspects (1) to (3), the driving control unit is in the peripheral environment when the user who uses the vehicle permits the upload of the peripheral environment information. The operation control for acquiring information is performed.

(5): In any of the above aspects (1) to (4), the driving control unit determines the mileage to which the vehicle travels in order to acquire the surrounding environment information by the user who uses the vehicle. When it is restricted, the operation control is performed within the restricted range.

(6): In any of the above aspects (1) to (5), the driving control unit limits the number of times the vehicle is parked in order to acquire the surrounding environment information by the user who uses the vehicle. If so, the operation control is performed within the limited range.

(7): In any of the above aspects (1) to (6), the driving control unit derives a travelable distance based on the remaining amount of energy of the vehicle, and the derived travelable distance and the said travelable distance. The shorter one of the mileages restricted by the vehicle user is selected, and the driving control is performed within the range of the selected mileage.

(8): In any of the above aspects (1) to (7), the congestion status determination unit for determining the congestion status of the predetermined space is further provided, and the operation control unit is the predetermined by the congestion status determination unit. When it is determined that the space is congested, the operation control for acquiring the surrounding environment information is performed.

(9): In any of the above aspects (1) to (8), the predetermined space is a parking lot, and the period from when the vehicle enters the predetermined space to when the vehicle leaves the predetermined space is the said. It is the period from the time you enter the parking lot to the time you enter the parking lot.

(10): In the embodiments (1) to (9), the information acquisition unit obtains the surrounding environment information based on the recognition result recognized by the recognition unit while the vehicle is traveling unmanned in the predetermined space. Is to get.

(11): The vehicle control system according to one aspect of the present invention is based on the vehicle control device according to any one of (1) to (10) and the surrounding environment information acquired by the information acquisition unit. A vehicle control system including an external device having a point management unit for determining points to be given to a user who uses a vehicle to which ambient environment information has been uploaded. The point management unit is a vehicle in which the vehicle is used. Based on the surrounding environment information obtained by excluding the information acquired by running or parking for parking in the shortest parking space from the information acquired in the period from entering the predetermined space to exiting the predetermined space. It determines the points.

(12): In the aspect of the above (11), the point management unit determines the different points according to the amount of information of the surrounding environment information or the time when the information is acquired.

(13): In the embodiment (11) or (12) above, the point management unit indicates that the user of the vehicle agrees to use the vehicle to acquire the surrounding environment information. If so, the points given to the user will be higher than in the case where the intention to agree is not shown.

(14): In the vehicle control method according to one aspect of the present invention, a computer mounted on the vehicle recognizes the surrounding environment of the vehicle, and based on the recognition result, at least one of the speed control and the steering control of the vehicle. Driving control including one is performed, and based on the recognition result recognized in the period from when the vehicle enters the predetermined space to when the vehicle exits the predetermined space according to the operation control, the surroundings related to the surrounding environment of the vehicle in the predetermined space. This is a method of acquiring environmental information and uploading the acquired peripheral environment information to an external device.

(15): The program according to one aspect of the present invention causes a computer mounted on the vehicle to recognize the surrounding environment of the vehicle, and based on the recognition result, at least one of the speed control and the steering control of the vehicle is performed. The surrounding environment related to the surrounding environment of the vehicle in the predetermined space based on the recognition result recognized in the period from when the vehicle enters the predetermined space to when the vehicle leaves the predetermined space according to the operation control including the operation control. It is a program that acquires information and uploads the acquired peripheral environment information to an external device.

According to (1) to (15), it is possible to contribute to the expansion of parking lots applicable to the valet parking system that automatically moves vehicles.

It is a block diagram of the vehicle system 1 using the vehicle control device which concerns on embodiment. It is a functional block diagram of the 1st control unit 120 and the 2nd control unit 160. It is a figure which shows typically the scene where the self-propelled parking event is executed. It is a figure which shows an example of the structure of the parking lot management device 400. It is a figure which shows an example of the structure of the map server 600. It is a figure which shows an example of the 2nd path. It is a figure which shows an example of the 2nd path. It is a figure which shows an example of the 2nd parking space. It is a figure which shows an example of the 2nd parking space. It is a flowchart which shows an example of the processing by the self-propelled parking control unit 142 and the surrounding environment information acquisition unit 144. It is a flowchart which shows the other example of the processing by the self-propelled parking control unit 142 and the surrounding environment information acquisition unit 144. It is a figure which shows an example of the hardware composition of the automatic operation control device 100 of an embodiment.

Hereinafter, embodiments of the vehicle control device, vehicle control system, vehicle control method, and program of the present invention will be described with reference to the drawings.

[overall structure]
FIG. 1 is a configuration diagram of a vehicle system 1 using the vehicle control device according to the embodiment. The vehicle on which the vehicle system 1 is mounted is, for example, a vehicle such as two wheels, three wheels, or four wheels, and the drive source thereof is an internal combustion engine such as a diesel engine or a gasoline engine, an electric motor, or a combination thereof. The electric motor operates by using the electric power generated by the generator connected to the internal combustion engine or the electric power generated by the secondary battery or the fuel cell.

The vehicle system 1 includes, for example, a camera 10, a radar device 12, a finder 14, an object recognition device 16, a communication device 20, an HMI (Human Machine Interface) 30, a vehicle sensor 40, a navigation device 50, and the like. It includes an MPU (Map Positioning Unit) 60, a driving controller 80, an automatic driving control device 100, a traveling driving force output device 200, a braking device 210, and a steering device 220. These devices and devices are connected to each other by a multiplex communication line such as a CAN (Controller Area Network) communication line, a serial communication line, a wireless communication network, or the like. The configuration shown in FIG. 1 is merely an example, and a part of the configuration may be omitted or another configuration may be added.

The camera 10 is, for example, a digital camera using a solid-state image sensor such as a CCD (Charge Coupled Device) or a CMOS (Complementary Metal Oxide Semiconductor). The camera 10 is attached to an arbitrary position of the vehicle (hereinafter, own vehicle M) on which the vehicle system 1 is mounted. When imaging the front, the camera 10 is attached to the upper part of the front windshield, the back surface of the room mirror, and the like. The camera 10 periodically and repeatedly images the periphery of the own vehicle M, for example. The camera 10 may be a stereo camera.

The radar device 12 radiates radio waves such as millimeter waves around the own vehicle M, and also detects radio waves (reflected waves) reflected by the object to detect at least the position (distance and orientation) of the object. The radar device 12 is attached to an arbitrary position of the own vehicle M. The radar device 12 may detect the position and velocity of the object by the FM-CW (Frequency Modulated Continuous Wave) method.

The finder 14 is a LIDAR (Light Detection and Ranging). The finder 14 irradiates the periphery of the own vehicle M with light and measures the scattered light. The finder 14 detects the distance to the target based on the time from light emission to light reception. The light to be irradiated is, for example, a pulsed laser beam. The finder 14 is attached to an arbitrary position of the own vehicle M.

The object recognition device 16 performs sensor fusion processing on the detection results of a part or all of the camera 10, the radar device 12, and the finder 14, and recognizes the position, type, speed, and the like of the object. The object recognition device 16 outputs the recognition result to the automatic operation control device 100. The object recognition device 16 may output the detection results of the camera 10, the radar device 12, and the finder 14 to the automatic operation control device 100 as they are. The object recognition device 16 may be omitted from the vehicle system 1.

The communication device 20 uses, for example, a cellular network, a Wi-Fi network, Bluetooth (registered trademark), DSRC (Dedicated Short Range Communication), or the like to use another vehicle or a parking lot management device (existing in the vicinity of the own vehicle M). (See below) or communicate with various server devices.

The HMI 30 presents various information to the occupants of the own vehicle M and accepts input operations by the occupants. The HMI 30 includes various display devices, speakers, buzzers, touch panels, switches, keys and the like.

The vehicle sensor 40 includes a vehicle speed sensor that detects the speed of the own vehicle M, an acceleration sensor that detects the acceleration, a yaw rate sensor that detects the angular velocity around the vertical axis, an orientation sensor that detects the direction of the own vehicle M, and the like.

The navigation device 50 includes, for example, a GNSS (Global Navigation Satellite System) receiver 51, a navigation HMI 52, and a routing unit 53. The navigation device 50 holds the first map information 54 in a storage device such as an HDD (Hard Disk Drive) or a flash memory. The GNSS receiver 51 identifies the position of the own vehicle M based on the signal received from the GNSS satellite. The position of the own vehicle M may be specified or complemented by an INS (Inertial Navigation System) using the output of the vehicle sensor 40. The navigation HMI 52 includes a display device, a speaker, a touch panel, keys, and the like. The navigation HMI 52 may be partially or wholly shared with the above-mentioned HMI 30. The route determination unit 53, for example, has a route from the position of the own vehicle M (or an arbitrary position input) specified by the GNSS receiver 51 to the destination input by the occupant using the navigation HMI 52 (hereinafter,). The route on the map) is determined with reference to the first map information 54. The first map information 54 is, for example, information in which a road shape is expressed by a link indicating a road and a node connected by the link. The first map information 54 may include road curvature, POI (Point Of Interest) information, and the like. The route on the map is output to MPU60. The navigation device 50 may provide route guidance using the navigation HMI 52 based on the route on the map. The navigation device 50 may be realized by, for example, the function of a terminal device such as a smartphone or a tablet terminal owned by an occupant. The navigation device 50 may transmit the current position and the destination to the navigation server via the communication device 20 and acquire a route equivalent to the route on the map from the navigation server.

The MPU 60 includes, for example, a recommended lane determination unit 61, and holds the second map information 62 in a storage device such as an HDD or a flash memory. The recommended lane determination unit 61 divides the route on the map provided by the navigation device 50 into a plurality of blocks (for example, divides the route every 100 [m] with respect to the vehicle traveling direction), and refers to the second map information 62. Determine the recommended lane for each block. The recommended lane determination unit 61 determines which lane to drive from the left. When a branch point exists on the route on the map, the recommended lane determination unit 61 determines the recommended lane so that the own vehicle M can travel on a reasonable route to proceed to the branch destination.

The second map information 62 is more accurate map information than the first map information 54. The second map information 62 includes, for example, information on the center of the lane, information on the boundary of the lane, and the like. Further, the second map information 62 may include road information, traffic regulation information, address information (address / zip code), facility information, telephone number information, and the like. The second map information 62 may be updated at any time by the communication device 20 communicating with another device.

The driving controller 80 includes, for example, an accelerator pedal, a brake pedal, a shift lever, a steering wheel, a deformed steering wheel, a joystick, and other controls. A sensor for detecting the amount of operation or the presence or absence of operation is attached to the operation operator 80, and the detection result is the automatic operation control device 100, or the traveling driving force output device 200, the brake device 210, and the steering device. It is output to a part or all of 220.

The automatic operation control device 100 includes, for example, a first control unit 120 and a second control unit 160. Each of the first control unit 120 and the second control unit 160 is realized by executing a program (software) by a hardware processor such as a CPU (Central Processing Unit). In addition, some or all of these components are hardware (circuits) such as LSI (Large Scale Integration), ASIC (Application Specific Integrated Circuit), FPGA (Field-Programmable Gate Array), and GPU (Graphics Processing Unit). It may be realized by the part (including circuitry), or it may be realized by the cooperation of software and hardware. The program may be stored in advance in a storage device (a storage device including a non-transient storage medium) such as an HDD or a flash memory of the automatic operation control device 100, or is removable such as a DVD or a CD-ROM. It is stored in a storage medium, and may be installed in the HDD or flash memory of the automatic operation control device 100 by mounting the storage medium (non-transient storage medium) in the drive device.

FIG. 2 is a functional configuration diagram of the first control unit 120 and the second control unit 160. The first control unit 120 includes, for example, a recognition unit 130 and an action plan generation unit 140. The first control unit 120, for example, realizes a function by AI (Artificial Intelligence) and a function by a model given in advance in parallel. For example, the function of "recognizing an intersection" is executed in parallel with recognition of an intersection by deep learning or the like and recognition based on predetermined conditions (pattern matching signals, road markings, etc.). It may be realized by scoring against and comprehensively evaluating. This ensures the reliability of autonomous driving.

The recognition unit 130 determines the position, speed, acceleration, and other states of objects around the own vehicle M based on the information input from the camera 10, the radar device 12, and the finder 14 via the object recognition device 16. recognize. The position of the object is recognized as, for example, a position on absolute coordinates with the representative point (center of gravity, center of drive axis, etc.) of the own vehicle M as the origin, and is used for control. The position of the object may be represented by a representative point such as the center of gravity or a corner of the object, or may be represented by a represented area. The "state" of an object may include acceleration or jerk of the object, or "behavioral state" (eg, whether or not the vehicle is changing lanes or is about to change lanes).

Further, the recognition unit 130 recognizes, for example, the lane (traveling lane) in which the own vehicle M is traveling. For example, the recognition unit 130 has a road marking line pattern (for example, an arrangement of a solid line and a broken line) obtained from the second map information 62 and a road marking line around the own vehicle M recognized from the image captured by the camera 10. By comparing with the pattern of, the driving lane is recognized. The recognition unit 130 may recognize the traveling lane by recognizing not only the road marking line but also the running road boundary (road boundary) including the road marking line, the shoulder, the curb, the median strip, the guardrail, and the like. .. In this recognition, the position of the own vehicle M acquired from the navigation device 50 and the processing result by the INS may be added. The recognition unit 130 also recognizes stop lines, obstacles, red lights, toll gates, and other road events.

When recognizing the traveling lane, the recognition unit 130 recognizes the position and posture of the own vehicle M with respect to the traveling lane. The recognition unit 130 determines, for example, the deviation of the reference point of the own vehicle M from the center of the lane and the angle formed by the center of the lane in the traveling direction of the own vehicle M with respect to the relative position of the own vehicle M with respect to the traveling lane. And may be recognized as a posture. Instead, the recognition unit 130 recognizes the position of the reference point of the own vehicle M with respect to any side end portion (road marking line or road boundary) of the traveling lane as the relative position of the own vehicle M with respect to the traveling lane. You may.

The recognition unit 130 includes a parking space recognition unit 132 that is activated at a self-propelled parking event described later. The details of the function of the parking space recognition unit 132 will be described later.

In principle, the action plan generation unit 140 travels in the recommended lane determined by the recommended lane determination unit 61, and the own vehicle M automatically (driver) so as to be able to respond to the surrounding conditions of the own vehicle M. Generate a target track to run in the future (regardless of the operation of). The target trajectory includes, for example, a velocity element. For example, the target track is expressed as a sequence of points (track points) to be reached by the own vehicle M. The track point is a point to be reached by the own vehicle M for each predetermined mileage (for example, about several [m]) along the road, and separately, a predetermined sampling time (for example, about 0 comma [sec]). ) Target velocity and target acceleration are generated as part of the target trajectory. Further, the track point may be a position to be reached by the own vehicle M at the sampling time for each predetermined sampling time. In this case, the information of the target velocity and the target acceleration is expressed by the interval of the orbital points.

The action plan generation unit 140 may set an event for automatic driving when generating a target trajectory. The automatic driving event includes a constant speed driving event, a low speed following driving event, a lane change event, a branching event, a merging event, a takeover event, a self-propelled parking event in which unmanned parking is performed in valet parking, and the like. The action plan generation unit 140 generates a target trajectory according to the activated event. The action plan generation unit 140 includes a self-propelled parking control unit 142 that is activated when a self-propelled parking event is executed, a surrounding environment information acquisition unit 144, and a congestion status determination unit 146. Details of the functions of the self-propelled parking control unit 142, the surrounding environment information acquisition unit 144, and the congestion status determination unit 146 will be described later.

The second control unit 160 sets the traveling driving force output device 200, the brake device 210, and the steering device 220 so that the own vehicle M passes the target trajectory generated by the action plan generation unit 140 at the scheduled time. Control.

Returning to FIG. 2, the second control unit 160 includes, for example, an acquisition unit 162, a speed control unit 164, and a steering control unit 166. The acquisition unit 162 acquires the information of the target trajectory (orbit point) generated by the action plan generation unit 140 and stores it in a memory (not shown). The speed control unit 164 controls the traveling driving force output device 200 or the braking device 210 based on the speed element associated with the target trajectory stored in the memory. The steering control unit 166 controls the steering device 220 according to the degree of bending of the target trajectory stored in the memory. The processing of the speed control unit 164 and the steering control unit 166 is realized by, for example, a combination of feedforward control and feedback control. As an example, the steering control unit 166 executes a combination of feedforward control according to the curvature of the road in front of the own vehicle M and feedback control based on the deviation from the target trajectory.

The traveling driving force output device 200 outputs a traveling driving force (torque) for traveling the vehicle to the drive wheels. The traveling driving force output device 200 includes, for example, a combination of an internal combustion engine, an electric motor, a transmission, and the like, and an ECU (Electronic Control Unit) that controls them. The ECU controls the above configuration according to the information input from the second control unit 160 or the information input from the operation operator 80.

The brake device 210 includes, for example, a brake caliper, a cylinder that transmits hydraulic pressure to the brake caliper, an electric motor that generates hydraulic pressure in the cylinder, and a brake ECU. The brake ECU controls the electric motor according to the information input from the second control unit 160 or the information input from the operation operator 80 so that the brake torque corresponding to the braking operation is output to each wheel. The brake device 210 may include, as a backup, a mechanism for transmitting the hydraulic pressure generated by the operation of the brake pedal included in the operation operator 80 to the cylinder via the master cylinder. The brake device 210 is not limited to the configuration described above, and is an electronically controlled hydraulic brake device that controls the actuator according to the information input from the second control unit 160 to transmit the hydraulic pressure of the master cylinder to the cylinder. May be good.

The steering device 220 includes, for example, a steering ECU and an electric motor. The electric motor, for example, applies a force to the rack and pinion mechanism to change the direction of the steering wheel. The steering ECU drives the electric motor according to the information input from the second control unit 160 or the information input from the operation controller 80, and changes the direction of the steering wheel.

[Self-propelled parking event-at the time of warehousing]
The self-propelled parking control unit 142 parks the own vehicle M in the parking space, for example, based on the information acquired from the parking lot management device 400 by the communication device 20. FIG. 3 is a diagram schematically showing a scene in which a self-propelled parking event is executed. Gates 300-in and 300-out are provided on the route from the road Rd to the visited facility. The own vehicle M passes through the gate 300-in and proceeds to the stop area 310 by manual operation or automatic operation. The stop area 310 faces the boarding / alighting area 320 connected to the visited facility. The boarding / alighting area 320 is provided with eaves to avoid rain and snow.

The own vehicle M is self-propelled parking that automatically drives unmanned after dropping a occupant in the stop area 310 and moves to the target parking space PS (hereinafter referred to as the first parking space PS1) in the parking lot PA. Start the event. The first parking space PS1 is, for example, a parking space in which the moving distance of the own vehicle M is the shortest among the vacant parking spaces in the parking lot PA. The start trigger of the self-propelled parking event may be, for example, some operation by the occupant, or may be the reception of a predetermined signal wirelessly from the parking lot management device 400. Some operation by the occupant may be input using the HMI 30 or may be input using the occupant terminal device 500 that communicates with the communication device 20. When starting a self-propelled parking event, the self-propelled parking control unit 142 controls the communication device 20 to send a parking request to the parking lot management device 400. Then, the own vehicle M moves from the stop area 310 to the parking lot PA according to the guidance of the parking lot management device 400 or while sensing by itself.

When the self-propelled parking event is started, the surrounding environment information acquisition unit 144 is recognized by the recognition unit 130 during the period from when the own vehicle M enters the parking lot PA to when it leaves the parking lot (hereinafter referred to as the valet parking period). Based on the recognition result, etc., information on the surrounding environment of the own vehicle M (hereinafter referred to as peripheral environment information) is acquired. The surrounding environment information includes, for example, the distance between the own vehicle M and an object (wall or the like), the position of a pillar in the parking lot, the size of the parking space, and the like. The parking lot PA is an example of a predetermined space. The surrounding environment information acquisition unit 144 is not limited to the above-mentioned example, and acquires the surrounding environment information based on the recognition result recognized by the recognition unit 130 during the period from entering the predetermined space to leaving the predetermined space. May be good. The predetermined space is not limited to the space including the parking space, and may be a space including a public road or a private road, or may be a part of private land. Further, the predetermined space may be an internal space inside the building or an external space such as outdoors.

The surrounding environment information acquisition unit 144 may acquire the surrounding environment information based on the distance traveled by the own vehicle M during the valet parking period, the traveling direction of the own vehicle M, and the like. Information indicating the distance traveled by the own vehicle M, the traveling direction of the own vehicle M, and the like can be obtained by, for example, the detection result by the vehicle sensor 40, the target track generated by the self-propelled parking control unit 142, and the like. This is information based on the detection result of a detection unit (not shown) that detects the distance traveled.

The self-propelled parking control unit 142 or the surrounding environment information acquisition unit 144 determines whether or not the own vehicle M is unmanned when entering the parking lot PA based on the detection result of the sensor mounted in the vehicle, and self-propelled. When the vehicle M is unmanned and enters the parking lot PA, the surrounding environment information may be acquired. Sensors mounted in the vehicle include a seat mounted on the seat, a sensor for detecting an object moving in the vehicle, a camera, and the like. Not limited to this, when the self-propelled parking control unit 142 or the surrounding environment information acquisition unit 144 is instructed by the user to valet parking, the automatic driving control device 100 causes the own vehicle M to enter the parking lot PA unattended. It may be. Hereinafter, an example in which the surrounding environment information acquisition unit 144 acquires the surrounding environment information based on the recognition result recognized by the recognition unit 130 while the own vehicle M is traveling unmanned in the parking lot PA will be described. By doing so, the own vehicle M can travel in an unmanned state and acquire the surrounding environment information, so that the surrounding environment information can be acquired while suppressing the influence on the behavior of the user of the own vehicle M. .. Not limited to this, the peripheral environment information acquisition unit 144 may travel in a state where the occupant is on the own vehicle M and acquire the peripheral environment information.

The peripheral environment information acquisition unit 144 of the own vehicle M uploads the acquired peripheral environment information to the map server 600 using the communication device 20. In the following description, the peripheral environment information acquisition unit 144 will explain an example of uploading the acquired peripheral environment information to the map server 600, but the present invention is not limited to this. For example, the surrounding environment information acquisition unit 144 may upload the acquired surrounding environment information to the parking lot management device 400 and generate map information of the parking lot based on the surrounding environment information acquired by the parking lot management device 400. ..

The congestion status determination unit 146 determines the congestion status of a predetermined space (for example, parking lot PA). For example, the congestion status determination unit 146 determines that the parking lot PA is congested when the number of vehicles existing in the parking lot PA received from, for example, the parking lot management device 400 via the communication device 20 is equal to or greater than the first threshold value. judge. The parking lot management device 400 derives the number of vehicles existing in the parking lot PA, for example, by subtracting the number of vehicles participating in the parking lot PA from the number of vehicles entering the parking lot PA. The other vehicles existing in the parking lot PA include, for example, other vehicles parked in the parking lot PA, other vehicles traveling in the parking lot PA, and the like.

Not limited to this, the congestion status determination unit 146 congests the parking lot PA when the ratio of the number of vehicles existing in the parking lot PA to the predetermined number of accommodated parking lot PAs is equal to or higher than the second threshold value. May be determined. Further, the congestion status determination unit 146 determines that the parking lot PA is congested when the number of other vehicles traveling in front of and behind the own vehicle M is equal to or greater than the third threshold value based on the recognition result by the recognition unit 130. You may. These processes by the congestion status determination unit 146 may be executed by the parking lot management device 400, and the own vehicle M may be notified of the determination result indicating whether or not the parking lot PA is congested.

FIG. 4 is a diagram showing an example of the configuration of the parking lot management device 400. The parking lot management device 400 includes, for example, a communication unit 410, a control unit 420, and a storage unit 430. Information such as parking lot map information 432 and parking space status table 434 is stored in the storage unit 430.

The communication unit 410 wirelessly communicates with the own vehicle M and other vehicles. The control unit 420 guides the vehicle to the parking space PS based on the information acquired by the communication unit 410 and the information stored in the storage unit 430. The parking lot map information 432 is information (hereinafter, referred to as map information) that geometrically represents the structure of the parking lot PA (overall view showing the size and position of the route, parking space PS, etc.). The parking lot map information 432 includes coordinates for each parking space PS, size information for each parking space PS, and the like, which are associated with the map information. The size information for each parking space PS may be reflected in the map information that geometrically represents the structure of the parking lot PA. The parking space status table 434 contains, for example, information indicating whether the parking space ID, which is the identification information of the parking space PS, is vacant or full (parked), and when the parking space status table 434 is full. It is associated with the vehicle ID, which is the identification information of the parked vehicle.

When the communication unit 410 receives the parking request from the vehicle, the control unit 420 extracts the parking space PS whose status is vacant by referring to the parking space status table 434, and maps the position of the extracted parking space PS to the parking lot map. Acquired from the information 432, a suitable route to the position of the acquired parking space PS is transmitted to the vehicle using the communication unit 410. Further, the control unit 420 instructs a specific vehicle to stop / slow down as necessary so that the vehicles do not move to the same position at the same time based on the positional relationship of the plurality of vehicles.

In the vehicle that has received the route (hereinafter referred to as the own vehicle M), the self-propelled parking control unit 142 generates a target trajectory based on the route. Further, when the target first parking space PS1 approaches, the parking space recognition unit 132 recognizes the parking frame line that divides the first parking space PS1 and recognizes the detailed position of the first parking space PS1. Provided to the self-propelled parking control unit 142. In response to this, the self-propelled parking control unit 142 corrects the target trajectory and parks the own vehicle M in the first parking space PS1.

[Self-propelled parking event-at the time of departure]
The self-propelled parking control unit 142 and the communication device 20 maintain the operating state even when the own vehicle M is parked. For example, when the communication device 20 receives a pick-up request from the occupant's terminal device 500, the self-propelled parking control unit 142 activates the system of the own vehicle M and moves the own vehicle M to the stop area 310. At this time, the self-propelled parking control unit 142 controls the communication device 20 and transmits a start request to the parking lot management device 400. The control unit 420 of the parking lot management device 400 stops or slows down to a specific vehicle as necessary so that the vehicle does not move to the same position at the same time based on the positional relationship of a plurality of vehicles as in the case of warehousing. To instruct. When the own vehicle M is moved to the stop area 310 and a occupant is put on the vehicle, the self-propelled parking control unit 142 stops operating, and thereafter, manual operation or automatic operation by another functional unit is started.

Not limited to the above description, the self-propelled parking control unit 142 creates an empty parking space by itself based on the detection result by the camera 10, the radar device 12, the finder 14, or the object recognition device 16, regardless of communication. You may find and park your vehicle M in the found parking space.

FIG. 5 is a diagram showing an example of the configuration of the map server 600. The map server 600 includes, for example, a communication unit 610, a control unit 620, and a storage unit 630. Information such as parking lot map information 632 and map registration status table 634 is stored in the storage unit 630.

The communication unit 610 wirelessly communicates with the own vehicle M and other vehicles. The control unit 620 includes, for example, a map information generation unit 622 and a point management unit 624. The map information generation unit 622 generates map information of the parking lot based on the surrounding environment information acquired by the communication unit 610, and updates a part of the parking lot map information 632. Further, the map information generation unit 622 derives the coordinates of the parking space PS, the size information of the parking space PS, and the like based on the surrounding environment information, and reflects them in the map information. The parking lot map information 632 corresponds to the original of the parking lot map information 432 described above.

The point management unit 624 determines the points to be given to the user of the own vehicle M who has uploaded the surrounding environment information based on the surrounding environment information acquired by the communication unit 610. The point management unit 624 refers to the point granting condition information 636, and determines points based on the amount of information provided, the acquisition time, the accuracy of the information, the mileage, the distance from the entrance or the exit, and the like. To do. The accuracy of the information is evaluated based on, for example, the degree of agreement with the already stored information and the resolution. In the point granting condition information 636, points to be granted are defined for each point granting condition. In the point granting condition information 636, for example, the larger the amount of information in the surrounding environment information, the more points, the newer the acquisition time of the surrounding environment information, the higher the points, and the higher the accuracy of the information, the higher the points. It is defined that the longer the mileage in the parking lot, the higher the point, and the farther the position of the parking space from which the mileage and size information is obtained is from the entrance or exit, the higher the point.

The point management unit 624 determines the points based on the action content of the own vehicle M for acquiring the surrounding environment information. For example, the point management unit 624 acquires the surrounding environment information acquired during the period from the time when the own vehicle M enters the parking lot to the time when the vehicle M leaves the parking lot by running or parking to park in the target first parking space PS1. The points are decided based on the surrounding environment information excluding the surrounding environment information. In this way, the point management unit 624 determines the target of point awarding. The target of giving points may be determined based on the route traveled by the own vehicle M or the position of the parked parking space PS, or may be determined based on the acquired surrounding environment information. Further, the point management unit 624 may determine the target of point awarding by the ratio of the unregistered area to the entire parking lot PA. For example, when the ratio of the unregistered area is 50%, the point management unit 624 grants 50% of the points determined based on the mileage traveled in the parking lot PA.

The point management unit 624 may determine the points according to the intention indicated by the user. The intention indicated by the user includes, for example, the intention to agree to use the own vehicle M to acquire the surrounding environment information during the valet parking period. The point management unit 624 raises the points to be given to the user when the intention to agree with this is indicated, as compared with the case where the intention to agree is not indicated.

The point management unit 624 assigns points to the user by storing the determined points in the point management table 638 in association with the user ID which is the identification information of the user of the own vehicle M. In the point management table 638, for example, cumulative points are associated with the user ID. Cumulative points are the cumulative value of valid points. Not limited to this, the point management table 638 may be a table that manages the points given each time, the date and time when the points are given, and the like for each user ID.

In the map registration status table 634, for example, the parking area ID, which is the identification information of the parking area, has been registered (completed) in the parking lot map information 632, or the registration has not been completed. Information indicating whether the state is (not yet) is associated with the information. The content of the registration status in the parking lot map information 632 can be arbitrarily set. For example, map information geometrically representing the structure of the parking lot PA is created based on the size information of all parking space PSs. It shall be. Not limited to this, registration may be completed when map information geometrically representing the structure of the parking lot PA is created without using the size information of the parking space PS. The parking area ID may be assigned to each parking area, or may be assigned to each area in which the parking lot is divided into a plurality of sections. In the map registration status table 634, for example, the registration status of the overall view of the parking lot PA (in the case of each area, the overall view of each area), the registration status of the size information of the parking space PS, and the like may be managed. ..

When the communication unit 610 receives the surrounding environment information from the vehicle, the map information generation unit 622 generates the parking lot map information and the like based on the received surrounding environment information, and adds the created map information to the parking lot map information 632. To do. Further, the map information generation unit 622 updates the map registration status table 634 when the map information is added to the parking lot map information 632. The map information generation unit 622 may distribute the map information to the parking lot management device 400 at the timing when the parking lot map information 632 is updated, for example. By doing so, the parking lot management device 400 can update the parking lot map information 432 based on the parking lot map information created based on the surrounding environment information received from each vehicle.

[Self-propelled parking event-when acquiring surrounding environment information]
The self-propelled parking control unit 142 uses the self-propelled parking control unit 142 to acquire the surrounding environment information when the parking lot PA for parking the own vehicle M is a parking lot for which registration to the map information has not been completed on the map server 600. Automatically run (including parking). The automatic running of the own vehicle M in order to acquire the surrounding environment information is hereinafter referred to as "the information acquisition action".

"Making the information acquisition action" includes running in an unregistered area that has not yet been registered in the parking lot map information 432 in the parking lot PA, parking in the unregistered area, and the like. The unregistered area includes each floor, a part of the floor, the parking space PS, and the like. The self-propelled parking control unit 142 moves in the unregistered area while sensing by itself. Not limited to this, the self-propelled parking control unit 142 may be guided to the parking space PS, which is an unregistered area, based on the information acquired from the parking lot management device 400 by the communication device 20.

The timing of "making the information acquisition action" may be after the own vehicle M is parked in the first parking space PS1 or before the own vehicle M is parked in the first parking space PS1. In the former case, the running after the own vehicle M is parked in the first parking space PS1 is for acquiring the surrounding environment information, and is subject to the point award described later (after parking in the first parking space PS1). (Target) becomes clear. In the latter case, since the surrounding environment information can be acquired on the way of the own vehicle M toward the first parking space PS1, the surrounding environment information can be efficiently acquired.

To "make an information acquisition action" means, for example, a route that deviates from the optimum route for parking in the target first parking space PS1 (hereinafter referred to as the first route) and travels in an unregistered area. It may be included that the own vehicle M travels on the route (hereinafter referred to as the second route). The optimum route includes, for example, a route having the shortest travel distance to the destination, a route having the shortest travel time to the destination, and the like.

6 and 7 are diagrams showing an example of the second route. In FIGS. 6 and 7, the lower side of the parking lot PA is the registered area, and the upper side of the parking lot PA is the unregistered area. In the example shown in FIG. 6, the own vehicle M travels on the first route R1 and parks in the first parking space PS1, and then travels on the second route R2-1 including the unregistered area. In the example shown in FIG. 7, the own vehicle M travels on the second route R2-2 including the unregistered area before parking in the first parking space PS1 without traveling on the first route R1. 1 Park in the parking space PS1.

To "make the information acquisition action", the own vehicle M is parked in a parking space PS that is different from the first parking space PS1 and is an unregistered area (hereinafter referred to as the second parking space PS2). Things may be included.

8 and 9 are diagrams showing an example of the second parking space. In FIGS. 8 and 9, the lower side of the parking lot PA is the registered area, and the upper side of the parking lot PA is the unregistered area. In the example shown in FIG. 8, the own vehicle M travels on the first route R1 and parks in the first parking space PS1, then temporarily parks in the second parking space PS2 and returns to the first parking space PS1. The vehicle travels on the coming second route R2-3. In the example shown in FIG. 9, the own vehicle M temporarily parks in the second parking space PS2 before parking in the first parking space PS1 without traveling on the first route R1, and the first parking space PS1 Follow the second route R2-4 toward the parking space PS1.

The second route and the second parking space PS2 are not limited to the illustrated examples. For example, the second route may be the optimum route for traveling in the unregistered area, and the second parking space PS2 may be a plurality.

In FIGS. 6 to 9, the point management unit 624 may determine the running in the unregistered area as the target of point awarding, and even if the running in the registered area, the running for traveling on the second route or the second You may decide to give points to the running toward the parking space PS2.

The second route, the second parking space PS2, and the like may be determined by the self-propelled parking control unit 142, or may be determined by the parking lot management device 400. In the former case, the own vehicle M moves while sensing by itself. In the latter case, the own vehicle M moves according to the guidance of the parking lot management device 400. Not limited to this, the own vehicle M may move to the second route or the second parking space PS2 determined by the parking lot management device 400 while sensing by itself.

The second route and the second parking space PS2 may be determined so as not to interfere with other vehicles based on the parking position and traveling route of other vehicles in the parking lot PA. Not disturbing other vehicles includes, for example, traveling in a direction different from the route of the other vehicle, parking in a parking space different from the parking space PS in which the other vehicle is parked, and the like.

When the self-propelled parking control unit 142 satisfies a predetermined execution condition, the self-propelled parking control unit 142 automatically drives the own vehicle M or the like in order to acquire surrounding environment information. The predetermined execution conditions include, for example, when the registration of the map server 600 in the parking lot map information 632 is not completed, or when the user who uses the own vehicle M is permitted to upload the surrounding environment information. This includes cases where the parking lot is not crowded. When the parking lot is not congested, for example, the case where the congestion status determination unit 146 determines that the parking lot PA is not congested is included.

When a predetermined restriction condition is set, the self-propelled parking control unit 142 performs driving control such as automatically traveling the own vehicle M in order to acquire surrounding environment information within the restricted range. Driving control includes at least one of driving the vehicle and causing the vehicle to park. The predetermined limiting conditions include, for example, the mileage of the own vehicle M to acquire the surrounding environment information, the number of times the own vehicle M is parked in the parking space PS to acquire the surrounding environment information, and the like. .. This predetermined restriction condition may be restricted by the user of the own vehicle M, or may be restricted by the user who manages the surrounding environment information.

The "predetermined limiting condition" may be, for example, setting the remaining energy of the own vehicle M to a certain value or more. In this case, the self-propelled parking control unit 142 derives the mileage based on the remaining amount of energy of the own vehicle M, and the derived mileage and the mileage limited by the user of the own vehicle M The shorter of these is selected, and driving control is performed to drive the own vehicle M within the selected distance.

[Operation flow]
FIG. 10 is a flowchart showing an example of processing by the self-propelled parking control unit 142 and the surrounding environment information acquisition unit 144. Here, an example will be described in which the timing of “making the information acquisition action” is after the own vehicle M is parked in the first parking space PS1.

For example, when the occupant instructs valet parking, the self-propelled parking control unit 142 starts an automatic parking event (step S101) and drives the own vehicle M toward the first parking space PS1 (step S103). Next, the self-propelled parking control unit 142 has completed registration in the map information (step S105), the information acquisition action is permitted by the user (step S107), and the parking lot is not congested. In the case (step S109), the content of the information acquisition action is determined (step S111). On the other hand, if the registration to the map information is completed in step S105, the information acquisition action is not permitted by the user in step S107, or the parking lot is congested in step S109, self-propelled parking The control unit 142 determines that the information acquisition action is not performed, and ends the process. It should be noted that determining the content of the information acquisition action includes determining the mileage and the traveling route to travel in the unregistered area.

Next, when the own vehicle M arrives at the first parking space PS1 (step S113), the self-propelled parking control unit 142 performs automatic driving such as driving the vehicle according to the content of the determined information acquisition action, while providing information on the surrounding environment. The acquisition unit 144 acquires the surrounding environment status (step S115). Then, the peripheral environment information acquisition unit 144 uploads the acquired peripheral environment information to the map server 600 (step S117).

When the timing of "taking the information acquisition action" is before parking the own vehicle M in the first parking space PS1, the process of step S113 shown in FIG. 10 is not necessary, and the process as shown in FIG. 11 is performed, for example. Will be executed. Since each step is the same as the above-mentioned contents, detailed description thereof will be omitted.

[Summary of Embodiment]
As described above, the automatic driving control device 100 of the present embodiment is at least one of speed control and steering control of the vehicle based on the recognition unit 130 that recognizes the surrounding environment of the vehicle and the recognition result by the recognition unit 130. The operation control unit (action plan generation unit 140 and the second control unit 160) that performs operation control including one, and the recognition unit during the period from when the vehicle enters the predetermined space to when the vehicle leaves the predetermined space according to the operation control by the operation control unit. Based on the recognition result recognized by 130, the surrounding environment information regarding the surrounding environment of the vehicle in the predetermined space is acquired, and the acquired surrounding environment information is uploaded to the map server 600 (or the parking lot management device 400). By providing the acquisition unit 144, it is possible to acquire map information even for a parking lot without map information. Therefore, it can contribute to the expansion of parking lots applicable to the valet parking system that automatically moves vehicles.

[Hardware configuration]
FIG. 12 is a diagram showing an example of the hardware configuration of the automatic operation control device 100 of the embodiment. As shown in the figure, the automatic operation control device 100 includes a communication controller 100-1, a CPU 100-2, a RAM (Random Access Memory) 100-3 used as a working memory, a ROM (Read Only Memory) for storing a boot program, and the like. 100-4, storage devices 100-5 such as flash memory and HDD (Hard Disk Drive), drive devices 100-6, and the like are connected to each other by an internal bus or a dedicated communication line. The communication controller 100-1 communicates with a component other than the automatic operation control device 100. The storage device 100-5 stores a program 100-5a executed by the CPU 100-2. This program is expanded to RAM 100-3 by a DMA (Direct Memory Access) controller (not shown) or the like, and is executed by CPU 100-2. As a result, a part or all of the first control unit 120 and the second control unit 160 is realized.

The embodiment described above can be expressed as follows.
A storage device that stores programs and
With a hardware processor,
When the hardware processor executes a program stored in the storage device,
Recognize the surrounding environment of the vehicle
Based on the recognition result, driving control including at least one of speed control and steering control of the vehicle is performed.
Based on the recognition result recognized in the period from when the vehicle enters the predetermined space to when the vehicle leaves the predetermined space according to the driving control, the surrounding environment information regarding the surrounding environment of the vehicle in the predetermined space is acquired.
Upload the acquired peripheral environment information to an external device,
A vehicle control device that is configured to.

Although the embodiments for carrying out the present invention have been described above using the embodiments, the present invention is not limited to these embodiments, and various modifications and substitutions are made without departing from the gist of the present invention. Can be added.

For example, the target first parking space PS1 is not limited to the shortest parking space PS. For example, the first parking space PS1 may be the parking space PS (empty vehicle) closest to the final point of the information gathering action route after determining the information gathering action route.

Further, whether or not the own vehicle M is to take the information collecting action may be determined by the self-propelled parking control unit 142 when the own vehicle M enters the site of the parking lot PA.

Further, the parking lot management device 400 may include the functional configuration, information, and the like provided in the map server 600.

Further, the map server 600 or the parking lot management device 400 may decide whether or not to cause the own vehicle M to execute the information collecting action.

Further, the map server 600 or the parking lot management device 400 may determine the content of the information collecting action for the own vehicle M.

Further, some functions of the self-propelled parking control unit 142 and the surrounding environment information acquisition unit 144 may be realized by the map server 600 or the parking lot management device 400.

1 ... Vehicle system, 10 ... Camera, 12 ... Radar device, 14 ... Finder, 16 ... Object recognition device, 20 ... Communication device, 40 ... Vehicle sensor, 50 ... Navigation device, 51 ... GNSS receiver, 52 ... Navigation HMI, 53 ... Route determination unit, 54 ... First map information, 61 ... Recommended lane determination unit, 62 ... Second map information, 80 ... Driving operator, 100 ... Automatic driving control device, 100-1 ... Communication controller, 100-5 ... storage device, 100-5a ... program, 100-6 ... drive device, 120 ... first control unit, 130 ... recognition unit, 132 ... parking space recognition unit, 140 ... action plan generation unit, 142 ... self-propelled parking control unit , 144 ... Surrounding environment information acquisition unit, 160 ... Second control unit, 162 ... Acquisition unit, 164 ... Speed control unit, 166 ... Steering control unit, 200 ... Travel driving force output device, 210 ... Brake device, 220 ... Steering device , 600 ... Map server, 622 ... Map information generation unit, 624 ... Point management department

Claims (15)

A recognition unit that recognizes the surrounding environment of the vehicle and
A driving control unit that performs driving control including at least one of speed control and steering control of the vehicle based on the recognition result by the recognition unit.
Regarding the surrounding environment of the vehicle in the predetermined space based on the recognition result recognized by the recognition unit in the period from when the vehicle enters the predetermined space to when the vehicle leaves the predetermined space according to the driving control by the operation control unit. An information acquisition unit that acquires peripheral environment information and uploads the acquired peripheral environment information to an external device.
Vehicle control device. The information acquisition unit
When the driving control unit performs the driving control on the vehicle in the predetermined space, the surrounding environment information is acquired.
The vehicle control device according to claim 1. The operation control unit
When the predetermined space is a parking lot for which registration to the map information has not been completed in the external device, the operation control for acquiring the peripheral environment information is performed.
The vehicle control device according to claim 1 or 2. The operation control unit
When the user who uses the vehicle permits the upload of the surrounding environment information, the driving control for acquiring the surrounding environment information is performed.
The vehicle control device according to any one of claims 1 to 3. The operation control unit
When the mileage to which the vehicle travels in order to acquire the surrounding environment information is limited by the user who uses the vehicle, the driving control is performed within the limited range.
The vehicle control device according to any one of claims 1 to 4. The operation control unit
When the number of times the vehicle is parked in order to acquire the surrounding environment information is limited by the user who uses the vehicle, the driving control is performed within the limited range.
The vehicle control device according to any one of claims 1 to 5. The operation control unit
The mileage is derived based on the remaining energy of the vehicle, and the shorter of the derived mileage and the mileage restricted by the user of the vehicle is selected and within the range of the selected distance. To perform the operation control with
The vehicle control device according to any one of claims 1 to 6. A congestion status determination unit for determining the congestion status of the predetermined space is further provided.
The operation control unit
When the congestion status determination unit determines that the predetermined space is congested, the operation control for acquiring the surrounding environment information is performed.
The vehicle control device according to any one of claims 1 to 7. The predetermined space is a parking lot and
The period from when the vehicle enters the predetermined space to when it leaves the predetermined space is the period from when the vehicle enters the parking lot to when the vehicle exits the parking lot.
The vehicle control device according to any one of claims 1 to 8. The information acquisition unit
The surrounding environment information is acquired based on the recognition result recognized by the recognition unit while the vehicle is traveling unmanned in the predetermined space.
The vehicle control device according to any one of claims 1 to 9. The vehicle control device according to any one of claims 1 to 10.
Based on the peripheral environment information acquired by the information acquisition unit, the external device having a point management unit that determines points to be given to a user who uses the vehicle to which the peripheral environment information has been uploaded. It is a vehicle control system equipped with
The point management department
Based on the surrounding environment information obtained by excluding the information acquired by running or parking for parking in the shortest parking space from the information acquired during the period from when the vehicle enters the predetermined space to when the vehicle exits the predetermined space. A vehicle control system that determines the points. The point management department
Determine the points that differ depending on the amount of information in the surrounding environment information or the time when it was acquired.
The vehicle control system according to claim 11. The point management department
When the user of the vehicle has indicated his / her intention to use the vehicle in order to acquire the surrounding environment information, the user has indicated that he / she has not indicated his / her intention to agree. To increase the points given to
The vehicle control system according to claim 11 or 12. The computer installed in the vehicle
Recognize the surrounding environment of the vehicle
Based on the recognition result, driving control including at least one of speed control and steering control of the vehicle is performed.
Based on the recognition result recognized in the period from when the vehicle enters the predetermined space to when the vehicle leaves the predetermined space according to the driving control, the surrounding environment information regarding the surrounding environment of the vehicle in the predetermined space is acquired.
Upload the acquired peripheral environment information to an external device,
Vehicle control method. On the computer installed in the vehicle
Recognize the surrounding environment of the vehicle
Based on the recognition result, the driving control including at least one of the speed control and the steering control of the vehicle is performed.
Based on the recognition result recognized in the period from when the vehicle enters the predetermined space to when the vehicle leaves the predetermined space according to the driving control, the surrounding environment information regarding the surrounding environment of the vehicle in the predetermined space is acquired.
Upload the acquired peripheral environment information to an external device.
program.

Images